fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-18 22:20:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ESC check cleanup

Browse Source
This commit is contained in:
Matthias Grob
2026-03-12 16:50:54 +01:00
parent 7aa28de922
commit 7b3fe3478b
3 changed files with 4 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
+3 -6
View File
@@ -71,8 +71,6 @@ static constexpr const char *esc_fault_reason_str(esc_fault_reason_t esc_fault_r
void EscChecks::checkAndReport(const Context &context, Report &reporter)
{
const hrt_abstime now = hrt_absolute_time();
const hrt_abstime esc_init_time = 700_ms; // Some DShot ESCs are unresponsive for ~550ms during their initialization
esc_status_s esc_status;
// Run motor status checks even when no new ESC data arrives (to detect timeouts)
@@ -95,9 +93,9 @@ void EscChecks::checkAndReport(const Context &context, Report &reporter)
_motor_failure_mask = mask;
reporter.setIsPresent(health_component_t::motors_escs);
reporter.failsafeFlags().fd_motor_failure = mask != 0;
reporter.failsafeFlags().fd_motor_failure = (mask != 0);
} else if ((_param_com_arm_chk_escs.get() > 0) && now - _start_time > esc_init_time) { // Allow ESCs to init
} else if ((_param_com_arm_chk_escs.get() > 0) && now > _start_time + 3_s) { // Allow ESCs to init
/* EVENT
* @description
* <profile name="dev">
@@ -117,8 +115,7 @@ uint16_t EscChecks::checkEscOnline(const Context &context, Report &reporter, con
{
// Check if one or more the ESCs are offline
uint16_t mask = 0;
char esc_fail_msg[esc_status_s::CONNECTED_ESC_MAX * 6 + 1] {};
esc_fail_msg[0] = '\0';
char esc_fail_msg[esc_status_s::CONNECTED_ESC_MAX * 6 + 1] = "";
for (int esc_index = 0; esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) {
if (!math::isInRange(esc_status.esc[esc_index].actuator_function,